滑移转向车辆的电机转向力矩控制研究  

Research on Motor Steering Torque Control for Skid Steering Vehicles

作　　者：娄岱松 朱纪洪 毛汉领[1] LOU Dai-song;ZHU Ji-hong;MAO Han-ling(School of Mechanical Engineering,Guangxi University,Nanning Guangxi 530004,China;Department of Precision Instrument,Tsinghua University,Beijing 100084,China)

机构地区：[1]广西大学机械工程学院,广西南宁530004 [2]清华大学精密仪器系,北京100084

出　　处：《计算机仿真》2024年第3期114-118,452,共6页Computer Simulation

基　　金：国家自然科学基金(51365006);广西科技基地和人才专项(AD19259002)。

摘　　要：针对滑移转向车辆横向控制困难的问题,通过构建电机控制力矩分配双层结构模型,设计了一种针对滑移转向车辆的横向控制算法。基于车辆运动学和动力学,推导出电机转向力矩与横摆角速度平衡方程,以此改进并提出一种自抑滑移的电机转向力矩前馈控制算法。使用Trucksim和Simulink对车辆在双移线实验工况下联合仿真,结果表明在设计算法控制下,车辆可以快速稳定跟随横摆角速度指令,且上述算法具有一定自动抑制滑移率突变的自适应性,有效提高了滑移转向车辆的横向稳定性。In order to solve the problem of difficult lateral control of the skid steering vehicle,this paper designs a lateral control algorithm for skid steering vehicles by constructing a two-layer structure model of motor control torque distribution.According to the vehicle kinematics and dynamics,the study deduces the balance equation between the motor steering torque and the yaw rate.Based on this,a self-slip-suppressed motor steering torque feedforward control algorithm is proposed.Through Trucksim and Simulink,the vehicle is co-simulated under the experimental conditions of double-line shifting.The results show that under the control of the design algorithm,the vehicle can quickly and stably follow the yaw rate command,and has a certain adaptive ability to automatically suppress the sudden change of the slip rate.The application of this algorithm effectively improves the lateral stability of the skid steer vehicle.

关 键 词：滑移转向 电机力矩控制 横向控制 前馈控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]